KR C2 KR C3 Operator Control

BedienungBH5.2 09.03.00 en

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SOFTWARE

KR C2 / KR C3

Operator Control

KUKA System Software (KSS)

Release 5.2

Issued: 26 Sep 2003 Version: 00

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e Copyright KUKA Roboter GmbHThis documentation or excerpts therefrommay not be reproduced or disclosed to third parties without the express permission of the publishers.Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, inthe case of a replacement or service work.We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepanciescannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on aregular basis, however, and necessary corrections will be incorporated in subsequent editions.Subject to technical alterations without an effect on the function.

PD Interleaf

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Contents

1 Running up / shutting down the controller 7. . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Operator control elements on the KR C2 control cabinet 7. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Operator control elements on the KR C3 control cabinet 8. . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Running up the controller 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Shutting down the controller 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Controller response when switched back on 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.1 Warm start 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2 Cold start 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2.1 Hardware requirements 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2.2 Power failure with the system running 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2.3 Power failure during a cold start 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.2.4 Power failure during a restart 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1.5.3 Setting external power supply and user outputs 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.6 Battery charge monitoring 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 The KUKA Control Panel (KCP) 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Operator control elements of the KCP 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 The rear of the KCP 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Graphical user interface (GUI) 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.1 Settings for brightness and contrast 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.2 GUI elements 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.3 Function keys 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.4 Input/output windows 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.5 System status 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.6 Messages 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2.3.7 Status bar 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Coordinate systems 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Joint coordinate system 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 WORLD coordinate system 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 BASE coordinate system 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 TOOL coordinate system 36. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 ROBROOT coordinate system 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Jogging the robot 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Selecting the jog mode 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Selecting the kinematic system 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Selecting the coordinate system 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 Jog override (jog velocity) 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Moving the robot with the Space Mouse 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator Control

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4.6.1 Mouse position 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.2 Degrees of freedom of the Space Mouse (mouse configuration) 45. . . . . . . . . . . . . . . . . . . . . .4.6.2.1 Motion of the main axes (translational motions) 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.2.2 Motion of the wrist axes (rotational motions) 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.2.3 Unlimited functionality 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.3 Dominant axis of the Space Mouse (mouse configuration) 47. . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.3.1 Dominant axis activated 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.6.3.2 Dominant axis not activated 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Moving the robot with the jog keys 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.7.1 Joint coordinate system 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.7.2 Coordinate systems TOOL, BASE, WORLD 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4.7.3 Incremental jogging 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Navigator 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Graphical user interface 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.1 Fundamentals 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.2 Header 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.3 Directory structure, attributes display, selection list 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.3.1 Directory structure 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.3.2 Attributes display 56. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.3.3 Selection list 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.4 Directory and file list 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.4.1 Pop--up menu 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.4.2 Additional information 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.5 Status line 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.6 Error display 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.6.1 Error list 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.6.2 Open 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.6.3 Data list 66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.1.6.4 Delete 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 File menu 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.1 New 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.1.1 Create directory 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.1.2 Create module 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.2 Open 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.2.1 File/Folder 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.2.2 Data list 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.2.3 Error list 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.3 Print 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.3.1 Current selection 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.3.2 Log book 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4 Archive 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.1 All 73. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.2 Applications 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.3 Machine data 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.4 Configure 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.5 Log Data 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.4.6 Current selection 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5 Restore 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5.1 All 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5.2 Applications 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5.3 Machine data 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5.4 Configure 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5.2.5.5 Current selection 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.5.6 History 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.6 Rename 78. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.7 Format floppy disk 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.2.8 Attributes/Filter 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Edit menu 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.1 Select all 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.2 Copy 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.3 Paste 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.4 Cut 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.5 Delete 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.6 Duplicate 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.7 Select 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.7.1 Without parameters 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.7.2 With parameters 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.8 Cancel program 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.3.9 Reset program 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Monitor menu 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Appendix 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.1 Keyboard assignment of the Navigator 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5.5.2 Default settings at User and Expert levels 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Executing, stopping and resetting a program 91. . . . . . . . . . . . . . . . . . . . . .

6.1 Selecting and opening a program 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.1.1 Symbols in the program window 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.1.2 Program status line 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Program velocity (Programm override) 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Stop reactions 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3.1 Ramp--down braking 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3.2 Path--maintaining Emergency Stop 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3.3 Maximum braking 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3.4 Short--circuit braking (dynamic braking) 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.3.5 Warning and safety instructions 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Manual program execution (jog mode) 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.1 Program run mode Go, Single Step or I--Step 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.2 Block selection 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.3 BCO run 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.4 Executing individual program lines 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.5 Program start backwards 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.6 Stopping program execution 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.7 Continuing a program 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.4.8 Resetting a program (Reset) 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Automatic program execution 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.5.1 BCO run 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.5.2 Complete program execution 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.5.3 Stopping program execution 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.5.4 Continuing a program 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.5.5 Resetting a program (Reset) 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Deselecting a program 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Monitor 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Inputs/Outputs 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7.1.1 Digital Inputs 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1.2 Digital outputs 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1.3 Analog inputs/outputs 113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1.4 Automatic External 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1.4.1 Inputs 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.1.4.2 Outputs 116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Rob. Position 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.2.1 Cartesian 118. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.2.2 Axis--specific 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.2.3 Incremental 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.2.4 Master/Slave 119. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Variable 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.1 Single 120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.2 Overview 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.2.1 Display 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.2.2 Configuration 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.2.3 Edit Configmon.ini 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.3 Cyclic Flags (Notice) 123. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.4 Flags 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.5 Counter 124. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.3.6 Timer 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Diagnosis 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.5 Windows 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6 Hardware Info 126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7 Help 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.7.1 Online help 127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.7.2 Online help -- Contents/Index 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7.7.3 Info 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Menu structure 136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 File 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Program/Edit 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.1 The Edit menu in Navigator 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.2 The Program menu at programming level 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8.2.3 The Program menu in the editor 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Configure 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 Monitor 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 Setup 155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 Commands 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7 Technology 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.8 Help 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Running up / shutting down the controller

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1 Running up / shutting down the controllerThe KR C... series control cabinets contain the power and control electronics for the robot.Apart from the main switch, all the operator control elements of the controller are located onthe KCP (KUKA Control Panel).

Running up the controller presupposes that the initial start--up procedure has been carriedout correctly and that the system is set up ready for production.

1.1 Operator control elements on the KR C2 control cabinet

The robot systemand controller are switchedonand off with the main switch.A padlock fitted to the main switch can be usedto prevent it reliably from being switched on ac-cidentally (e.g. during maintenance work on therobot system).

Main switch

Cabinet lockThe cabinet lock is protected by a cover,which also serves as the door handle.

OptionsIf the control cabinet is equipped with extraoptions, their status is indicated by theLEDs.

Floppy disk drive

CD--ROM drive

With the cabinet door open,a CD--ROM drive and afloppy disk drive are acces-sible.

Computer drives

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It is also possible to connect a standard serial mouse to the computer systems COM1 port.This can even be connected and disconnected during operationwithout having to reboot thesystem. For this reason, COM1 is automatically used by the mouse driver.

Applications and functions that access the COM1 port must be reconfigured to a differentCOM port.

The temporary connection of a keyboard to the corresponding DIN or PS/2 port is alsopossible.

The KRC2 control cabinet door may only be opened by a skilled and appropriately trainedelectrician for the purpose of service work. The KR C2 cabinet door must be closed againimmediately after service work, otherwise the cooling effect of the internal airflow is lost.Failure to do so can cause the controller to overheat and fail.

1.2 Operator control elements on the KR C3 control cabinet

The cable of the KCP (KUKA ControlPanel) is connected to this socket.

KCP connection

The first LED shows whether or notthe system is switched on. Thesecond indicates that the computerunit hard drive is being accessed.

Status indication

1 Running up / shutting down the controller (continued)

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The entire robot system is switched onand off with this switch.

On/off switch

This button is used to reset the computer(warm start) without having to switch thesystem off and back on again.

Reset

CD--ROM drive

Floppy disk drive

IUPS

Both doors on the control module must be kept shut in order to keep dirt out.

1.3 Running up the controller

After the robot system has been switched on using the main switch on the control cabinet,the computer begins to run up (load) the operating system and the control software.

The display then shows the main menu for program creation, selection and execution.

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If the machine data loaded do not match the robot type, a corresponding errormessage is generated when the controller is booted. The robot must not bemovedin this case.

If the robot controller logs onto the network, this has a significant effect on the time thecontroller takes to boot.

1.4 Shutting down the controller

After the robot system has been switched off using the main switch on the control cabinet,the controller shuts down its own software and the operating system.


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1.5 Controller response when switched back on

The controller offers two system boot variants:

G Warm start (default setting)

G Cold start

1.5.1 Warm start

A warm start is intended to keep production downtimes to aminimum in the event of a powerfailure. Once the system has booted, the status reached immediately before the power fail-ure is restored. The outputs that were set at the time the system was switched off are setagain when the system reboots, the field buses are reset (also in the event of a fault). Theprocessing of the program can then be resumed from the point that had been reached in theprogram. In most cases it is no longer necessary to move the cell free.

Before restarting the system, you must decide whether it is still sensible to resumeprogram execution given that the outputs will be reset or restored.

The next time the system is booted, the initial state of the user interface is restored. If, forexample, forms were open or a program was loaded into the editor before the power failure,they will not be displayed after the restart.

The state of the kernel system, including programs, block pointer, variable contents, outputs,status messages and acknowledgement messages, is completely restored.

In the case of a restart after software problems, program resumption is only possible inisolated cases.All outstanding changes that have not yet been saved are lost after a shutdown.

Further information on the setup and configuration of the warm restart can be found in theProgramming Handbook in the main chapter [Configuration], chapter [Configuringthe system].

1.5.2 Cold start

Noprogram is selectedwhen the systemhas bootedand theuser outputs areset to FALSE.This response can be activated via the corresponding menu command.

The menu command Force cold start is notretained as a default setting, i.e. it must beactivated each time a cold start is required.

I/OI/O DriverSUBMIT InterpreterStatuskeysJoggingUser groupCur. tool/baseTool definitionOn/Off OptionsMiscellaneous

Force cold startDisable PowerOff Delay

Configure

In Automatic Externalmode, the program CELL is automatically selected andexecuted.

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1.5.2.1 Hardware requirements

All peripheral devices which can trigger potentially dangerous movements in thecell must be designed using pulse valve technology. This prevents unintentionalmovements from occurring when the power supply is switched off or back on.

1.5.2.2 Power failure with the system running

In the event of a power failure during normal operation, the robot is stopped by short--circuitbraking (dynamic braking). A corresponding message is generated in the message window.It makes no difference whether the power failure was caused by failure of the mains supplyor by pressing the main switch during program execution.

All kernel system files are backed up on the hard disk. Once the files are saved, the systemwaits until the PowerOff delay has elapsed. This is then followed by one of two eventualities:

G Power is restored before the PowerOff delay has elapsed

The robot system is not shut down, but an acknowledgment message is generatedwhich must be acknowledged. Work can then be resumed.

G Power is still absent when the PowerOff delay has elapsed

The status of the kernel system is backed up on the hard disk and the controller is shutdown, in a controlled manner, by the battery back--up. The control system is thenswitched off.

If the battery back--up is not sufficient, in exceptional circumstances files could bedestroyed. In this case, a cold start is carried out.Loss of mastering may occur if the battery voltage fails before the mastering dataare saved.

When power is restored the controller is automatically run up and selects the program thatwas previously running. Program execution can be resumed at the point at which the pro-gram was interrupted. Once again, there are two ways of doing this:

G If the robot is located on its programmed path (e.g. ramp--down braking), the programcan be started using the start continue function.

G If the robot has left its programmed path (e.g. short--circuit braking), a BCO run may,under certain circumstances, be necessary at the point where the path was left (RETposition).

1.5.2.3 Power failure during a cold start

The system boot--up is aborted. In some cases a processor reset may be triggered and acold start carried out once the power has returned.

1.5.2.4 Power failure during a restart

The control software is completely restarted. The subsequent sequence of events thencorresponds to that described in Section 1.5.2.2.


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1.5.3 Setting external power supply and user outputs

External power supply

The computer unit in the robot controller can be supplied separately by an external powersupply (option). A power source is required here, which works independently of the normalpower supply. In the event of a mains power failure, the computer unit is not shut down.

Deactivating the user outputs

In the event of a power failure with a functioning external power supply, the user outputs arenot deactivated as standard. If the system is configured accordingly, however, the useroutputs are restored when power returns.

1.6 Battery charge monitoring

Normally, when the system is shut down, or in the event of a power failure, the robot systemdata are automatically backed up. The batteries used for backing up the computer systemare accommodated in the control cabinet.

If the battery voltage drops too far during the backup procedure (below 22 V), an errormessage is generated in the message window.

If this message is generated during normal operation, a short--circuit has occurredin the battery.

The current state of the batteries is saved at the end of the backup procedure. Next time thesystem is booted, a corresponding message is generated:

G Voltage below 22 volts

There was sufficient voltage to back up the system data.

G Voltage below 19 volts

Operating system or robot system data may have been damaged as the computer wasswitched off before completion of the backup procedure. The system is switched off inorder to protect against an exhaustive discharge (and thus destruction) of thebatteries.

These messages can have the following causes:

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Cause Remedy

The batteries are not fully charged.

Leave the robot controller running for at least 10hours to recharge the batteries.If this does not help, one of the batteries is presum-ably defective.

One or both batteries defective.Replace both batteries immediately, WITHOUTswitching off the robot controller (could result infaulty files or damage to the operating system).

Use only batteries that have been explicitly approved by KUKA.

The message in the message window can be neither deleted nor acknowledged. Thismessage is deleted automatically, but not until the next battery backup procedure has beensuccessfully completed.

2 The KUKA Control Panel (KCP)

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2 The KUKA Control Panel (KCP)

KCP2

E--STOP

The KUKA Control Panel, referred to hereafter as KCP, forms the human--machine inter-face and is used for easy operation of the KR C... robot controller. All elements requiredfor programming and operator control of the robot system, with the exception of the mainswitch, are located directly on the KCP. The LCD screen is used to visualize operator andprogramming actions.

2.1 Operator control elements of the KCP

EMERGENCY STOP button

The red button is pressed in emergencies; therobot drives are immediately deactivated.The EMERGENCY STOP button must bereleased before the drives can be switchedback on. Turn the button in the directionindicatedby thearrows until it audibly unlocks.The corresponding EMERGENCY STOPmessage in the message window must thenbe acknowledged. This is done by pressingthe softkey Ackn..Pressing the EMERGENCY STOP buttonactivates path--oriented braking.

Before theEMERGENCYSTOPbutton is released, thesituation thatcaused thestopto be triggered, and if necessary its consequences, must first be rectified.

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Drives ON

Pressing this buttonactivates the robot drives.These can only be switched on under normaloperating conditions (e.g. no EMERGENCYSTOP button pressed, safety gate closed,etc.).

Drives OFF

Pressing this button deactivates the robotdrives. The brakes of the motors are also ap-plied after a slight time delay and hold theaxes in position.Drives OFF activates dynamic braking.

Mode selector switch

Using this keyswitch you can switch betweenthe different operating modes.The current setting of the mode selectorswitch is displayed in the status line.

Operatingmode

Jogging Program mode

(Test 1)

Jog velocityKeep enabling switch held downPress jog key or Space Mouse

Jog velocityKeep enabling switch held downKeep Start key held down

(Test 2)

Jog velocityKeep enabling switch held downPress jog key or Space Mouse

Programmed velocityKeep enabling switch held downKeep Start key held down

2 The KUKA Control Panel (KCP) (continued)

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(Automatic)Not possible

Programmed velocityDrives ONPress Start key briefly

(AutomaticExternal)

Not possible

Programmed velocityDrives ONExternal start

If the operating mode changes while the program is running, dynamic braking is activated.

Automatic operation is only possible with the safety circuit closed.

Enabling switches

For certain actions, such as jogging therobot, one of the enabling switches must beheld down.The enabling switches are situated on theback of the KCP and on one of the holdingdomes.They are all designed as two--positionbuttons. For program execution, a buttonmust be held in the middle position.Releasing the button or pressing it hardtriggers dynamic braking.

Space Mouse

This is used for manually--controlled motionof all 6 axes (degrees of freedom) of therobot. The amount of deflection of the SpaceMouse influences the velocity of the robot.

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ESC key (Escape)

An action that has been started can beaborted at any time using the Escape key.This includes, for example, open inline formsand status windows.Menus opened by mistake can also beclosed again, one by one, by pressing thiskey.

CSE

Window selection key

This key can be used to toggle betweenprogram, status and message windows,insofar as these are available.The window that is currently active ishighlighted in color.This activation is called focus.

Program STOP

Pressing this button stops a program that isrunning.Path--maintaining braking is carried out andthis can be acknowledged in automaticmode.To resume aprogram that has been stopped,press the Program start forwards orProgram start backwards key.

OPTS

Program start forwards

Pressing this button starts a program thathas been selected.The start is only possible if the drives havebeen switched on and there is no EMERGENCYSTOP situation.Releasing the Program start forwards keyin mode T1 or T2 triggers path--maintainingbraking.


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There is an additional Program startforwards key located on the holding dome.

Program start backwards

By pressing this key, the motion blocks of theselected program are executed step by steptowards the beginning of the program.The robot is thus moved in reverse directionalong the path originally programmed.Releasing the Program start backwards keytriggers path--maintaining braking.This function is only available in modes T1and T2.

Enter key

This key is used to confirm entries or tocomplete commands.

Arrow keys

The arrow keys are used to-- move the focus-- change the position of the edit cursor-- toggle between theboxes in inline formsandparameter lists.

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Menu keys

These are used to open the correspondingmenusYou can select from the menu that is openedas follows:

-- by using the (# ") arrow keys, whichhighlights the selectedmenu item in color

-- by entering the number preceding themenu item.

A menu can be closed one step at a time bypressing the ESC key.

Status keys

The status keys are used for selectingoperating options, switching individualfunctions and setting values.The relevant function is represented graphi-cally by means of corresponding icons in thesatus key bars.

-- +

Softkeys

These are used for selecting the functionsdisplayed in the softkey bar.The functions available are dynamicallyadapted, i.e. the assignment of the softkeybar is altered.

Numeric keypad

Numbers are entered using the numerickeypad. At a second level, the numerickeypad has cursor control functions.


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HOMEJumps to the beginningof the line in which theedit cursor is positioned.

LDELDeletes the line inwhich the edit cursoris positioned.

PGUPScrolls one screentowards the start of thefile.

UNDOCancels the last entry (notyet implemented).

TABTabulation

PGDNScrolls one screentowards the end of thefile.END

Jumps to the end of theline in which the edit cur-sor is positioned.

INSSwitches between insert andoverwrite modes. DEL

Deletes the character tothe right of the edit cursor.

CTRLControl key, e.g. forprogram--specificcommands.

Arrow zBackspace key; deletesthe character to the leftof the edit cursor.

Keyboard

Used for entering letters and othercharacters.

NUM key

Allows you to switch between entry ofnumbers or control characters via thenumeric keypad. You can switch betweenthese functions by pressing the NUM keybriefly.

Numeric entry

Cursor control functions

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ALT key

This is used in keyboard shortcuts. In thisway, menus can be opened and certainactions can be executed.The ALT key remains activated for onekeystroke. In otherwords, it does not needto be held down.

SHIFT key

For switching between lower--case andupper--case letters.If the shift key is pressed once, the nextcharacter will be typed in upper case. Totype upper--case characters, the shift keymust be held down while the charactersare entered. It is also possible to switch tocontinuous upper--case characters usingthe keyboard shortcut SYM+SHIFT.

Lower--case letters

UPPER--CASE LETTERS

SYM key

Used for entering special charactersdepicted on the letter keys.The SYM key remains activated for onekeystroke. In otherwords, it does not needto be held down.


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2.2 The rear of the KCP

Program startforwards

Enablingswitch

Enablingswitch

Space Mouse

Enablingswitch

Rating plate

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2.3 Graphical user interface (GUI)

The display of the KUKA Control Panel is subdivided into several areas with various func-tions. Duringoperation, the individual user interface elements are dynamically adapted to thecurrent action.

These are illustrated below on the basis of examples. The assignment of the menu, statusand softkey bars depends on the applications installed.

2.3.1 Settings for brightness and contrast

To adapt theGUI to different ambient conditions, both the brightness and contrast of theLCDdisplay can be adjusted.

The jog function must be switchedoff first; only then are the status keysfor brightness and contrast activated.

The brightness and contrast valuescan be adjusted between 0 and 15using the corresponding +/-- statuskey.

2.3.2 GUI elements

Keys

These include menu keys, status keys andsoftkeys. Simply press the correspondingoperator control element on the KCP or clickon the icon using the mouse.

Monitor

Expert

Windows

These include, for example, status andmessage windows.The window selection key is used to togglebetween the individual windows in the GUI.Within the individual windows, the focus canbe moved using the arrow keys.


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Selection lists

These are used for selecting predefinedvalues.Position the focus on the selection list usingthe arrow keys or the TAB key. Then open thelist using the keyboard shortcut ALT+ # andselect the desired entry. Confirm the selectionby pressing the Enter key.

Input boxes

These are used for entering values or texts.Position the focus on the input box using thearrow keys or the TAB key. Then enter thedesired characters.

Parameter boxes

Selection of a specific value from apredefinedrange.Set the desired value using the correspondingstatus key. Alternatively, the value can beentered in the input box.

Focus

The desired object can be selected using thearrow keys. Commands and options will thenrefer to this object.

2.3.3 Function keys

Menu bar

Robot controller functions are groupedtogether in the menu bar.These groups must be opened using themenu keys in order to select the entriescontained therein.

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Status key bars

The individual status keys provide access torobot controller functions. The assignment ofthe softkey bar changes according to thespecific requirements.

Softkey bar

The softkey bar, which adapts itself dynami-cally, offers functions that can be selectedusing the relevant softkeys.

2.3.4 Input/output windows

Program window

The contents of the selected program aredisplayed in the program window. If noprogram is selected, a list of all the availableprograms is displayed.Locatedbetween the line number and the textof the instruction is a yellow arrow pointingright, the block pointer. It is positioned in theprogram line that is currently being executed.Another mark in this window is the editcursor, represented as a vertical red line.The edit cursor is located at the start of theline that is currently being edited.

Edit cursor

Block pointer (program poin-ter)


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Status window

The status window is displayed as required.It contains information about the status ofcertain components, e.g. inputs/outputs.

The focus can be moved to the desiredposition using the arrow keys or the numerickeypad.

Form

The form is displayed as required. Datarequired by the controller are entered here.This is the case, for example, with toolcalibration.The focus is moved to the desired positionusing the arrow keys or the TAB key.

Parameter list

This is used for entering values from a rangeof values.The focus is moved to the desired positionusing the arrow keys or the TAB key.

Message window

The controller communicates with theoperator via the message window.Notification, status, acknowledgement, waitand dialog messages are displayed here.

Each type of message has a specific symbolassigned to it.

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Inline form

Someof theprogram functions require valuesto be entered.These values are entered in an input mask(inline form) or selected from selection boxes.In this way, you ensure that the programmedinstructions always have the correct format.

2.3.5 System status

Status line

Information regarding important operatingstates is grouped together and displayed inthe status line.


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2.3.6 Messages

Notification messages contain information or indicate operator actions, programmingerrors and operator errors. They are purely for information purposes and do not interruptprogram execution.

Start key required

This message appears after a program has been selected.

Statusmessages indicate the status of the system. They are also informational in characterand can interrupt the application program to a certain extent. Statusmessages are automati-cally deleted when the status that triggered them is no longer applicable.

EMERGENCY STOP

This message is generated if, for example, the EMERGENCY STOP button has beenpressed or a safety gate opened.

Acknowledgement messages frequently appear following a status message (e.g.EMERGENCYSTOP) andmust be explicitly confirmed. They indicate disruption to programexecution.

Confirm EMERGENCY STOP

Acknowledgement messages stop robot operation until the cause of the error has beeneliminated and the message confirmed.

Waitmessagesaregenerated if a program is runningand await condition is beingexecuted.

WAIT FOR $IN[1]==TRUE

The robot controller is stopped until the condition is fulfilled or the program reset. In thisexample the system is waiting for a signal at input 1.

Theoperatormust respond todialogmessages. The result is stored in the relevant variable.The program is stopped until the message is acknowledged, and subsequently resumed.

Do you want to touch point P1?

The yes and no softkeys are now offered in the softkey bar. When one of the two softkeysis pressed, the message is deleted from the message window.

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2.3.7 Status bar

The numeric keypads number keys are activated.

The numeric keypads cursor control functions are activated.

UPPER--CASE LETTERS.

UPPER-- and lower--case letters are active.

Green: The Submit interpreter is running.

Red: The Submit interpreter has been stopped.

Gray: The Submit interpreter has been deselected.

Green: Drives are ready.

Red: Drives are not ready.

Green: A program has been selected and is currently beingexecuted.

Gray: No program is selected.

Red: The selected and started program has been stopped.

Black: The block pointer is situated on the last line of theselected program.

Yellow: The block pointer is situated on the first line of theselected program.


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This box indicates the name of the selected program.

The block number of the program line that is currently being executedis indicated here.

Operating mode T2 (manual mode/jog mode).

Operating mode in which a host computer or PLC assumes controlof the robot system (Automatic External).

Operating mode T1 (manual mode/jog mode).

Operating mode (Automatic)

The program override

The name of the robot is displayed here.

The current system time

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3 Coordinate systems

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3 Coordinate systemsIn jog mode, the robot is moved in accordance with the selected coordinate system.

Joint coordinate system

TOOL coordinate system

BASE coordinate system

WORLD coordinate system

As jog mode, select jog keys or Space Mouse. Then use the +/-- status key to select thedesired coordinate system.

Further information on jogging with the Space Mouse and jog keys can be found in thechapter [Jogging the robot].

3.1 Joint coordinate system

In the joint coordinate system, each robot axis can be individually moved inpositive or negative axis direction. This can be done using the jog keys or theSpaceMouse, theSpaceMouseallowing 3or 6 axes to bemovedsimultaneously.

Space Mouse

-- +

-- +

-- +

-- +

-- +

-- +

Jog keys

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3.2 WORLD coordinate system

The WORLD coordinate system is a stationary, Cartesian coordinate system. Itserves as the root coordinate system for the BASE and ROBROOT coordinatesystems.

-- +

-- +

-- +

-- +

-- +

-- +

Jog keys Space Mouse

The World coordinate system only corresponds with that of the Space Mouse if theoperator with the KCP is standing directly in front of the robot.

Position ofoperator Robot

As standard, the origin of the WORLD coordinate system is located at the center of therobot base.

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3.3 BASE coordinate system

TheBASEcoordinate system is aCartesian coordinate systemwhich is calibratedin such a way that the origin is located in or at a workpiece or fixture.

-- +

-- +

-- +

-- +

-- +

-- +

Space MouseJog keys

On delivery, the origin of the BASE coordinate system is located in the base of the robot.

The BASE coordinate system is relative to the WORLD coordinate system.

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3.4 TOOL coordinate system

The TOOL coordinate system is a Cartesian coordinate system which iscalibrated in such as way that the origin is located in the tool.

Example: servo gun Example: torch

-- +

-- +

-- +

-- +

-- +

-- +

Jog keys Space Mouse

The TOOL coordinate system is generally orientated in such a way that its X axis is identicalto the working direction of the tool (tool direction).

On delivery, the origin of the TOOL coordinate system is located at the flange centerpoint.

The TOOL coordinate system is relative to the BASE coordinate system.

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3.5 ROBROOT coordinate system

The origin of the ROBROOT coordinate system is always located in the base of the robotand is relative to theWORLD coordinate system. This allows the definition of an offset of therobot relative to the WORLD coordinate system.

On delivery, the origin of the ROBROOT coordinate system is identical to that of theWORLD coordinate system and is located in the base of the robot.

Detailed information on the subject ROBROOT may be found in the ProgrammingHandbook, in the main chapter [Expert Programming], chapter [Motion program-ming].

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4 Jogging the robot

4.1 General

Jogging is used for manually controlled movement of the robot. The standard robot has atotal of six axes, which are defined as follows:

Overview:Position and direction of rotation of the robotaxes

To jog the robot, the mode selector switch must be set to Jog mode(T1 or T2).

The robot can be jogged only if there is no EMERGENCY STOP situation.

If a robot axis runs against one of its software limit switches, it is immediately switched off.The robot can then be moved out of this position manually in the joint coordinate system.The other axes remain unaffected.

If one or more of the robot axes hits its end stop without being braked and at avelocity in excess of the jog velocity set by the manufacturer, the buffer concernedmust be replaced immediately.If this happens to axis 1 of a wall--mounted robot, its rotating column must bereplaced.

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4.2 Selecting the jog modeThe following modes are available for jogging the robot:

Jogging switched off

Only for program execution or Auto-matic mode.

Moving the robot with the SpaceMouse

Simultaneous movement of 3 or 6axes, depending on the number ofdegrees of freedom.

Moving the robot with the jog keys

In order tomoveeachaxis individually.

To get a better overview of the robot movement, the positions of the axes can be shownin a status window.

I/ORob. PositionVariableDiagnosisWindowsHardware Info

CartesianAxis specificIncrementalMaster/Slave

Monitor

4.3 Selecting the kinematic systemThe jog keys can be used to move both the standard robot axes and external axes, as wellas any external kinematic systems which have been configured.

The type and number of options available depend on your system configuration.

Robot

Only the 6 robot axes A1...A6 (joint coordinate system) or X, Y, Z, A, B, C(reference coordinate system) can be moved.

External axes

Here you can move only the external axes (E1...E6).

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Robot and external axes

Themain axes of the robot (A1...A3or X,Y,Z) and the first 3 external axes (E1...E3)can be moved.

The main axes (A1...A3 or X,Y,Z) and the external axes (E4...E6) can be moved.

If the robot is moved using the SpaceMouse (axes A1...A6 or X, Y, Z, A, B, C), theexternal axes (E1...E6) can be moved using the status keys.

Further information about external axes can be found in the separate documentation[External axes].

4.4 Selecting the coordinate system

Select the reference coordinate system to be used for moving the robot.

Joint coordinate system

TOOL coordinate system

BASE coordinate system

WORLD coordinate system

In the wrist singularity (A4 and A6 parallel), there is the danger that an externalenergy supply system (if present) may be wound around the wrist axis.

Further information on moving the wrist axes can be found in the main chapter [UserProgramming], in the chapter [Program commands], section [Motion] underInfinitely rotating axes.Information on the wrist axis singularity and the extended position may be found in theProgramming Handbook, in the main chapter [Expert Programming], chapter [Motionprogramming], section [Motion commands] under Singularities.

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4.5 Jog override (jog velocity)

In some cases, it is of vital importance to reduce the velocity of the robot. Only in this wayis it possible to address points precisely and avoid collisions between the workpiece and thetool.

...

The jog override value can bemodified using the +/-- statuskey. The current setting isdisplayed above the symbol.

In modes T1 and T2, the jog override can also be altered during program execution.

Depending on the configuration, the HOV value last used is restored when the system isswitched to T1 mode.

With the Space Mouse, the jog velocity can be further decreased by reducing the deflectionof the mouse (velocity proportional to the deflection).

The jog override increment can be increased. To do this you must activate the option JogOV Steps on/off in the Configure --> Jogging menu. The value is then no longer alteredin increments of 1%but changes between 1, 3, 10, 30, 50, 75 and 100 per cent of the valuedefined in the machine data.


Program OV StepsJog OV StepsMouse positionMouse configuration

Configure

If you have selected the joint coordinate system as the reference coordinate system thejog override refers to the specific axis.If a rectangular coordinate system is set (e.g. WORLD coordinate system) the jog overriderefers to the axis with the longest trajectory (leading axis). The motions of all other axesare synchronized with the leading axis.


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4.6 Moving the robot with the Space Mouse

If you have selected the Space Mouse as the operator control element using thestatus key Jogmode, you canmove the robot in 3 or 6 axes (degrees of freedom)at the same time. The Space Mouse is assigned a coordinate system that staysthe same in all reference coordinate systems.

If you pull the Space Mouse towards you in the positive X direction, for example, the robotaxes will likewise move in the positive X direction in the reference coordinate system. Thisalso applies to the Y and Z axes.

Turning the SpaceMouse about its X axis, for example, likewise causes the tool center pointto rotate about the X axis of the set reference coordinate system. This again applies equallyto the Y and Z axes.

For certain applications, e.g. fine positioning or tool calibration, it is useful not to move therobot in all 6 axes simultaneously. For this reason, the aids Degrees of freedom andDominant axis are available to reduce the number.

4.6.1 Mouse position

In order to ensure intuitive operator control when traversing the robot using the SpaceMouse, the operator can inform the controller of his position.



Configure

Thedefault setting for themouseposition is 0 degrees. The robot thusmoves in thepositiveX direction. To ensure that the deflection of the Space Mouse corresponds to the motiondirection, the operator should stand in front of the robot.

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If the operator stands to the left of the robot and wishes to move the robot back towardshimself, he no longer has to rethink what he is doing. Themouse position is simply set to 90degrees. This causes the world coordinate system to be rotated by 90 degrees in the robotcontroller.

The same Space Mouse motion as before will move the robot towards the operator.

You can change the position of the 6Dmouse by pressing the corresponding softkeys. Eachtime the softkey + is pressed, the world coordinate system is rotated an additional 45degrees in a clockwise direction. The softkey -- rotates the coordinate system in acounterclockwise direction.

The KCP symbol in the status window alsomoves each time the softkey is pressed, and thusalways indicates the current position.

The softkey Close accepts the current mouse position and closes the status window.

When switching to AUT (Automatic) or EXT (Automatic External) mode, the mouseposition is automatically reset to 0 degrees.

Close


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4.6.2 Degrees of freedom of the Space Mouse (mouse configuration)The number of axes which can bemoved simultaneously using the SpaceMouse can be lim-ited.



Configure

A status window opens in which you can set the degrees of freedom.

Degrees of freedom of the Space Mouse:

Unlimited functionality

Motion of the wrist axes

Motion of the main axes

Axis selection

all Axis (6D)

Dominant mode

4.6.2.1 Motion of the main axes (translational motions)

The functionality of the Space Mouse is here restricted to motion of themain axes A1, A2 and A3, or translational motions. Only pulling orpushing the Space Mouse results in corresponding motion of the robot.How the robot moves depends on the reference coordinate system of therobot that has been set.

In a Cartesian coordinate system, you can only move the robot rotationally about the X,Y and Z coordinate axes. Several axes usually move synchronously in this case. If, on theother hand, you have selected the joint (axis--specific) coordinate system, you can onlymove the robot axes A1, A2 and A3 directly.

Joint reference coordinate system:

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4.6.2.2 Motion of the wrist axes (rotational motions)

The functionality of the Space Mouse is restricted here to motion of thewrist axes, or rotational motions. Only rotating the Space Mouse movesthe robot. Here too, the type of movement depends on the referencecoordinate system of the robot that has been set.

In a Cartesian coordinate system, you can only move the robot rotationally about the X,Y and Z coordinate axes. Several axes can also move simultaneously in this case too.

If, on the other hand, you have selected the joint (axis--specific) coordinate system, youcan only move the robot axes A4, A5 and A6 directly.


4.6.2.3 Unlimited functionality

With this setting, all 6 axes of the robot can be moved simultaneously. Ina Cartesian coordinate system, pushing or pulling the Space Mousealong its X, Y or Z axis causes the robot to be correspondingly movedalong the X, Y or Z axis of the set reference coordinate system. Rotatingthe Space Mouse about its X, Y or Z axis similarly causes the tool centerpoint to be correspondingly rotated about the X, Y or Z axis.

In the joint coordinate system, you can specificallymove the robot axes A1 to A6:Pushingor pulling (translational motions) along the X, Y and Z coordinate axes of the SpaceMousemoves the robot axes A1, A2 and A3. If, on the other hand, you turn the SpaceMouse aboutits X, Y and Z coordinate axes, you can move the wrist (robot axes A4, A5 and A6).


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You can use the settings described above to reduce the number of degrees of freedom from6 to 3, but it is not possible to move just one single axis with the Space Mouse.

It is, however, possible to define a so--called dominant axis in order to permit operationwithonly one axis if required.

4.6.3 Dominant axis of the Space Mouse (mouse configuration)

For various applications, it is useful to limit the function of the SpaceMouse to one robot axis,the so--called dominant axis. When this function is switched on, only the coordinate axiswith the greatest deflection of the Space Mouse is moved.



Configure

A status window opens in which you can specify whether only the dominant axis will bemoved.

Dominant axis activated

Dominant axis not activated

Dominant axis:

Axis selection

all Axis (6D)

Dominant mode

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The command Dominant axis can also be switched on andoff using the corresponding status key. This status key is onlyavailable in the jog mode Space Mouse.

4.6.3.1 Dominant axis activated

For moving the robot, the coordinate axis of the Space Mouse that iscurrently given the greatest deflection is relevant.

In this diagram, the relative deflections ofthe SpaceMouse for axes A1--, A2+ andA3-- are represented by different arrowlengths.

As can be seen, the deflection for A2+ isgreatest in this example.Axis 2 is thus the dominant axis, andonlyaxis 2 is moved.

As soon as another axis registers agreater deflection, this in turn becomesthe dominant axis.

Deflectionsof the Space Mouse

4.6.3.2 Dominant axis not activated

Either 3 or all 6 axes can bemoved depending on the setting of the degreesof freedom. This is known as a so--called superposed motion. Jogging of3 or 6 axes simultaneously should primarily be left to experienced users.


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4.7 Moving the robot with the jog keys

If, using the status key Jog mode, you have selected the jog keys as the input medium andhave also selected the desired reference coordinate system, you can move the robot bypressing the +/-- status key.

Joint

TOOL

BASE

WORLD

With some robot models, the user interface may vary slightly from the standard interface.With a palletizing robot in joint (axis--specific) jog mode, for example, axes A4 and A5 arenot available, and in Cartesian jog mode, angles B and C are not available.

It is only possible to jog the robot if you first hold down one of the enabling switches andthen press the desired jog key. If either the enabling switch or the jog key is released, therobot is stopped immediately.

4.7.1 Joint coordinate system

If you have selected the joint (axis--specific) coordinate system, the main andwrist axes A1 to A6 will be displayed in the right--hand status key bar as soon asyou press one of the enabling switches (on the back of the KCP). Pressing oneof the +/-- status keys moves the corresponding axis.

Positive direction of motion

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4.7.2 Coordinate systems TOOL, BASE, WORLD

If you have selected one of the coordinate systems TOOL, BASE or WORLD, themainaxesX, Y andZ, and thewrist axesA, B andCaredisplayed. Several axes are usuallymovedsynchronously.

In theworld coordinate system, the jog keys are assigned the axis designations depictedbelow. Here, too, the arrows indicate the positive axis directions.

Positive direction of motion


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4.7.3 Incremental jogging

A motion command can be executed step by step using incremental jogging. Each motioncommand is then executed step by step in accordance with the increment setting.

The positioning of equidistant points is significantly accelerated using this function.

In the event of an error it enables the user to move the robot a defined distance or orientationaway from the component. The robot can then be moved step by step back to the previousposition.

Incremental jogging switched off

Increment set to 100mm linear (X, Y, Z)or 10 degrees orientation (A, B, C)

Increment set to 10 mm linear (X, Y, Z)or 3 degrees orientation (A, B, C)

Increment set to 1 mm linear (X, Y, Z)or 1 degree orientation (A, B, C)

Increment set to 0.1mm linear (X, Y, Z)or 0.005 degrees orientation (A, B, C)

To jog the robot using the jog keys, you must hold down one of theenabling switches and then press the jog key of the desired axis. The --key toggles to the next value down while the + key toggles to the nextvalue up. The robot keeps moving as long as the jog key remainspressed, and stops by itself after the preset distance or number ofdegrees has been reached. The status key must then be released andpressed again.

In the case of an interruption, e.g. Emergency Stop, change of operating mode, releasingthe jog key or enabling switch, the robot stops. This terminates the incremental motion thatwas begun.

The increments are executed relative to the coordinate system selected.

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5 Navigator

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5 NavigatorThe Navigator is a so--called file manager which the operator can use to navigate throughthe drives and directory structures. The Navigator can be used to create, select, copy, save,delete and open files.

5.1 Graphical user interface

5.1.1 Fundamentals

The Navigator consists of the following four areas:

Header

Directory structure,attributes display orselection list(templates and filters)

Directory or file list

Status line

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The following icons and symbols are used in the Navigator:

Drives

Icon Type Default path

Robot KRC:\

Floppy disk A:\

Unknown drive (e.g. unavail-able network drive)

Hard disk *1 e.g. KUKADISK (C:\) oder KUKADATA (D:\)

CD--ROM *1 E:\

Mapped network drive *1 F:\ , G:\ , ...

Backup drive Archive:\

*1:These symbols are not shown in the user group User.*2: If a network connection fails during operation, the Navigator is blocked by the operatingsystem until the network error is detected. Operator actions (e.g. select/open program) arenot possible during this time.

Directories and files

Icon Type Meaning

Directory Normal directory

Directory open Open directory

Archive ZIP file (compressed directory)

Read directory The contents of the directory are being read

Module Program at user level (*.src, *.dat, *.sub)

Module containingerrors

Program at user level which must be correctedbefore being run in the editor

Src file *1 Program file at expert level

Src file *1 Subprogram at expert level

Src file containing errors*1

Program file at expert level which must becorrected before being run in the editor

Dat file *1 Data list at expert level

Dat file containing errors*1

Data list containing errors

ASCII file *1 File that can be read using any editor

Other files *1 Binary files which cannot be read in the text editor

Integrated file The file is integrated into the system (e.g. aselected program)

*1: These symbols are not shown in the user group User.

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5.1.2 Header

The left side of the header shows the filter or the templates that are available for selection.The right side shows the folder and/or file path.

The filter setting and template selection are not available in the user group User.

Filter

The current filter setting isdisplayed above the directorystructure.

The filter can be set toModules or Detail view.

The current drive or directory is displayedin the directory or file list.

Information on the user group Expert can be found in the Programming Handbook inthe main chapter [Configuration], chapter [Configuring the system].

Template

The template selection is displayedabove the directory structure.

The current drive or directory is displayedin the directory or file list.

5.1.3 Directory structure, attributes display, selection list

5.1.3.1 Directory structure

By default, the Navigator displays the directory structure of the current drives or directories.

The current directory structure is normally shown on theleft--hand side of the Navigator. This display variesaccording to the filter that has been set.The contents of the drive or directory highlighted in color(focus) are then displayed as a file list on the right--handside of the Navigator.

To select a drive or directory, move the focusto the desired symbol using the or arrow key.

To open or close a directory level, press theEnter key.

Focus

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Further drives and directories are available at expertlevel.Here too you can use the --, -- arrow keys or theEnter key.

To switch between the directory structure and the file list, use the or arrow key.

5.1.3.2 Attributes display

Display and modification of options relating to individual files or directories.

The attributes display is opened by firstselecting a file or directory.

NewOpenPrintArchiveRestoreRenameFormat floppy diskAttributesFilter

File

General

Name of the selected file (in this case a modulecomprising one src and one datfile).

Information about the file type ((Dir, Archive,Bin, Text, Module, VirtualDir and Unknown),its path and the total amount of memory occupied.

Date and time of file creation, change and mostrecent access.

Display of the Windows file attribute which can bechanged at expert level.

The current edit mode (Free, Full, ProKor orReadOnly).


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Module info

Informationabout the release, the src and dat filesand the file type (RobotSRC, SubmitSub orNone).

Status of the file in the Submit interpreter and in therobot interpreter (possibilities: Unknown, Free,Selected or Active).

Switching of the kernel system attribute Visible.

User name, max. 30 characters.Additional comment which can be scrolled using the and arrow keys if required.

Parameter

Parameter Template and associated information.

Name of the parameter.

Any desired additional information can be anchoredin KRL modules. This can be information about theversion or the template name, for example.

Associated parameter values.

Thearrowkeys and canbeused tomove the focus to oneof theboxesin order to enter text or select an option (space bar).

To move the cursor within an input box, use the ! or z arrow keys. Onthe Parameter page, you can access the individual parameter valuesdirectly by pressing one of these keys.

The softkey Tab+ can be used to switch between the General, Moduleinfo and Parameter tabs. If you want to use the numeric keypad, theNUM display in the status line must be switched off.

OKTab + CancelCSE

Using the softkeys OK or Cancel, you can confirm the changesmade or cancel theaction.Alternatively, you can use the Enter or ESC keys.

Tab +

NUM

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5.1.3.3 Selection list

At present, Filter and Templates are available in selection lists.

Filter

The men command Filter offers the following filter types for selection:

This setting affects the output in the file window

Filter Module Filter Detail

The appearance of the file list changes depending on the filter that is set.

The arrow keys and can be used to move the focus to the desired filter.You can use the softkey bar to switch on the selected filter or cancel the action.

OK Cancel

Template

At expert level, the softkey New opens a window and offers one of the following templates:

Which of the templates shown here will be offereddepends on the directory in which the program is to becreated. For example, a CELL program can only becreated in the directories R1 and Program.

Here again you have the option of accepting the relevant setting or canceling the action.

OK Cancel


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5.1.4 Directory and file list

The contents of the current drive or directory are displayed as a file list on the right--hand sideof the Navigator.

To select a directory or file,move the focus to the desiredsymbol using the or arrow key.

To open or close a directorylevel or select a program,press the Enter key.

To switch between the directory structure and the file list, use the or arrow key.

The space bar can be used to select several files permanently or to cancel selections.

To do so, move the focus to the desired file using the or arrow key and press the space bar. The file in question is nowselected.Press the space bar again and the selection is canceled.Alternatively, several consecutive files can be selected usingthe keyboard shortcut Shift+ or Shift+.The ESC key cancels the selection of all the files highlighted.

Using the filter option Detail at expert level, the same file list has the following appearance:

The contents of the file window can bemoved left or right using the keys Alt + or Alt + in order to enable thedesired information to be seen.

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5.1.4.1 Pop--up menu

For each selected object (e.g. program list or data list, etc.) a pop--up menu can be openedas an alternative to the pull--downmenus and softkeys. Only those commands are availablefor selection which can actually be executed at a given moment.

The menu can be opened in one of the following ways:

Pressing the ! arrow key;

Pressing the right mouse button (if a computer mouse is connected);

Pressing the application key (if a corresponding keyboard is connected tothe system).

The pop--upmenu opens. Thismenu only offers thosefunctions that are actually available.

SelectOpenArchiveCutCopyDeleteRenameDuplicateAttributes

File/FolderData listError list

Without parametersWith parameters

Move the focus to the previous/next menu item using the " and # arrow keys. You canopen a submenu using ! or the Enter key and close it again using z or the ESC key.

Alternatively, you can select a command by pressing the corresponding number on thenumeric keypad. The NUM display must be activated in order to do this. The numberspreceding the individual commands are fixed, i.e. the commands are not dynamicallyrenumbered. Thus the experienced user need only remember the numbers relevant to him.

In somecircumstances, thepop--upmenucannot beopened. This is the case, for example,when the attributes display is open.

The pop--upmenu can also be used in conjunctionwithmultiple directories or files selectedat the same time.


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5.1.4.2 Additional information

The following information is available to the operator:

The title bar gives details about the type of information displayed.

Creation date including time

File extension, e.g. SRC, SUB, UPG etc.

The first 10...15 characters of the comment

The existing operating system and kernel system attributes

File size in kilobytes

Number of changes made to the file

Date and time of the last change

Directory or file name

5.1.5 Status line

Information about the number of files, their size, path, progress and other status messagesare displayed in the status line of the Navigator.

Contents display (turquoise)

Selection information (turquoise)

Action information (turquoise)

Process cancelled

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User dialog (yellow)

User entries (green)

Request for confirmation (gray)

These are confirmed with the Enter key or canceled by pressing the ESC key.

When a request for confirmation is made, a corresponding line is generated,which must be answered via the softkey bar.

5.1.6 Error display

This option is used for error diagnosis and elimination. When the contents of a directory areread, the program or module, etc., is checked for syntax errors. If any are found, the filescontaining errors are highlighted accordingly.

Module containing errors

If the focus is moved to a file marked as containing errors, the appearance of the softkey barchanges as follows:

DeleteData listOpenError listNew


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5.1.6.1 Error list

This softkey opens the error display.

Additional information concerning the errors that have occurred is listed in the error list.

Title bar with the name of the file

Short description

Error number

Line and column in which the error occurs

Source text line in which the error occurs

The arrow keys and can be used to select the desired error.

The following commands are available in the softkey bar:

RefeshShow Close

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Show

This command opens the editor on the left--hand side.

In order for the line numbers in the error list to correspond to those in the editor, the options-- All FOLDs open and

FOLDCopyPasteCutDeleteFindReplaceClose

Edit Current FOLD open/closeAll FOLDs openAll FOLDs close

-- Detail view

must be activated. These functions are not available as standard in the user group User.


ConfigureLanguageChange passwordEditorOffice optionMonitoring working env.ReinitializationCycle Time OptimizerPlugIn ConfigurationEvent planner

Def--lineASCII ModeLinebreak

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KR C2 KR C3 Operator Control

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